Cristin-resultat-ID: 1324894
Sist endret: 31. mai 2017, 08:58
NVI-rapporteringsår: 2015
Resultat
Vitenskapelig artikkel
2016

GRIBBOT - Robotic 3D vision-guided harvesting of chicken fillets

Bidragsytere:
  • Ekrem Misimi
  • Elling Ruud Øye
  • Aleksander Eilertsen
  • John Reidar Bartle Mathiassen
  • Olav Åsebø Berg
  • Tone Beate Gjerstad
  • mfl.

Tidsskrift

Computers and Electronics in Agriculture
ISSN 0168-1699
e-ISSN 1872-7107
NVI-nivå 2

Om resultatet

Vitenskapelig artikkel
Publiseringsår: 2016
Publisert online: 2015
Trykket: 2016
Volum: 121
Sider: 84 - 100
Open Access

Importkilder

Scopus-ID: 2-s2.0-84951753536

Beskrivelse Beskrivelse

Tittel

GRIBBOT - Robotic 3D vision-guided harvesting of chicken fillets

Sammendrag

In Norway, the final stage of front half chicken harvesting is still a manual operation due to a lack of automated systems that are suitably flexible with regard to production efficiency and raw material utilisation. This paper presents the ‘GRIBBOT’ – a novel 3D vision-guided robotic concept for front half chicken harvesting. It functions using a compliant multifunctional gripper tool that grasps and holds the fillet, scrapes the carcass, and releases the fillet using a downward pulling motion. The gripper has two main components; a beak and a supporting plate. The beak scrapes the fillet down the rib cage of the carcass following a path determined by the anatomical boundary between the meat and the bone of the rib cage. The supporting plate is actuated pneumatically in order to hold the fillet. A computer vision algorithm was developed to process images from an RGB-D camera (Kinect v2) and locate the grasping point in 3D as the initial contact point of the gripper with the chicken carcass for harvesting operation. Calibration of camera and robot was performed so that the grasping point was defined using 3D coordinates within the robot’s base coordinate frame and tool centre point. A feed-forward Look-and-Move control algorithm was used to control the robot arm and generate the motion trajectories, based on the 3D coordinates of the grasping point as calculated from the computer vision algorithm. The results of an experimental proof-of-concept demonstration showed that GRIBBOT was successful both in scraping the carcass, grasping chicken fillets automatically and in completing the front half fillet harvesting process. It demonstrated a potential for the flexible robotic automation of the chicken fillet harvesting operation. Its commercial application, with further development, can result in automated fillet harvesting, while future research may also lead to optimal raw material utilisation. GRIBBOT shows that there is potential to automate even the most challenging processing operations currently carried out manually by human operators.

Bidragsytere

Ekrem Misimi

  • Tilknyttet:
    Forfatter
    ved Fiskeri og ny biomarin industri ved SINTEF Ocean

Elling Ruud Øye

  • Tilknyttet:
    Forfatter
    ved Fiskeri og ny biomarin industri ved SINTEF Ocean

Aleksander Lillienskiold

Bidragsyterens navn vises på dette resultatet som Aleksander Eilertsen
  • Tilknyttet:
    Forfatter
    ved Fiskeri og ny biomarin industri ved SINTEF Ocean

John Reidar Bartle Mathiassen

  • Tilknyttet:
    Forfatter
    ved Fiskeri og ny biomarin industri ved SINTEF Ocean

Olav Åsebø Berg

  • Tilknyttet:
    Forfatter
    ved SINTEF Manufacturing
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